EP1508412A2 - Slicing Machine - Google Patents

Abstract

Servo motor power for the sleigh (16) used to hold the product being sliced is dependent upon at least one calculated sleigh movement parameter. The parameter can be the sleigh speed or acceleration. The machine has a circular blade (30) with a cutting plane extending parallel to the sleigh. In a servo drive mode, the sleigh can be moved manually with support from the servo motor (20).

Description

The invention relates to a slicing machine with a circular blade, a carriage for receiving cutting material, which parallel to Sliding plane of the circular blade is slidably guided, and a drive motor for moving the carriage, wherein in a servo operating mode the slide is manually operated and the operation by the drive motor is supported.

The invention further relates to a method for operating a slicing machine in a servo operation mode, with a carriage for recording of cutting material which is parallel to the cutting plane of a circular knife slidable back and forth, wherein in the servo operation mode, the carriage movement is manually operated and supported by a drive motor becomes.

For sliced slicers for cutting food such as Sausage and cheese is usually an automatic mode or a manual mode intended. In the automatic mode, the carriage is fully automatic his guideway moves back and forth. In manual mode, the corresponding must Force for movement of the carriage and in particular for the passage of the carriage with the material to be cut on a circular blade through be applied to the operator. It is for example from the EP 0 881 045 A2 or AT 394 152 B Cold cuts known which in semi-automatic mode (servo operation mode) are operable. In such a servo operation mode, the carriage of Hand operated, that is guided by hand, wherein the drive motor the Assisted carriage movement. This is a reduced effort required.

On this basis, the invention is based on the object, a cold cuts cutting machine of the type mentioned above to be improved so that for gives the operator an improved carriage guidance.

This object is achieved in the case of the aforementioned slicing machine According solved according to the invention that in the servo operation mode, the support is dependent on the drive motor of at least one parameter the carriage movement, wherein the determined at least one characteristic becomes.

Characterized in that a characteristic such as speed and / or acceleration the slide is measured, the support of the carriage movement can be control or regulate accordingly. It can be so for example achieve that when starting the carriage (at low speeds) the engine torque of the drive motor is disproportionately large, so a to allow gentle and smooth ride. It can also be achieved that the speed of the carriage to a maximum speed is limited. Furthermore, it can be prevented that at short bumping the Sled starts to run by itself.

By adapting the support to a characteristic of the carriage movement It gives the operator the feeling of a smooth slide given, giving a natural feeling for pushing the sled reach.

It is particularly advantageous if the support is dependent on the Speed of the sled. It can be so in particular a jerk-free to achieve a smooth start of the carriage. For example, it is also possible to achieve that with decreasing the carriage speed, as it did after a kick the carriage occurs without further manual operation, the carriage is braked automatically.

It is also possible in principle, alternatively or additionally, the support depending on the acceleration of the carriage.

It is particularly advantageous if an engine torque of the drive motor depending on the at least one parameter of the carriage movement controlled and / or regulated. In particular, an energization of the Drive motor controlled and / or regulated, via which the corresponding Motor torque sets. The current carriage movement determines thereby on the corresponding characteristic of the carriage movement such as speed of the carriage, the current control or regulation of the drive motor. Thus, the different cases in the carriage movement for the Take into account the servo assistance of the carriage movement; that's how it can be Startup can be supported optimally and at high speeds considered the speed of the slide over limitation of the motor current become. It can achieve increased security, for example the passage through a carriage after initiation is preventable.

In particular, a control apparatus for controlling and / or regulation of the drive motor.

It is particularly advantageous if the drive motor according to a predetermined Support profile is controllable and / or controllable. The support profile is for example in tabular form or as a function in the Control and regulating device stored. The support profile includes for certain characteristic ranges such as speed ranges the corresponding situations according to which the drive motor to control or regulate is.

In particular, it is provided that the support profile is a driving profile for includes the carriage for the carriage. The driving profile serves to drive the motor to control or regulate for the driving movement of the carriage.

It has been shown that it is advantageous if the support of the Carriage movement in servo operation mode non-linear with respect to at least is a characteristic of the carriage movement. It can then the different cases during the carriage movement are taken into account; In particular, can be a smooth and smooth start with an inflated Achieve engine torque or it can be a limitation of Reach speed of the carriage.

It is particularly advantageous if the support of the carriage movement is disproportionately stronger at low speeds of the carriage as at high speeds of the carriage. This can be just a gentle and smooth ride of the carriage can be achieved. For the operator gives the impression of a smooth slide with a natural Traction for the sled.

It is favorable if the driving profile has a starting range for low speeds, a middle range for medium speeds and a Contains limiting range for high speeds.

Conveniently, in the starting range, the driving profile with respect to at least a characteristic of the carriage movement at the steepest. When driving off the Schlitten must a relatively high engine torque from a zero engine torque be exercised just to move the sled. If the engine torque disproportionately strong with the parameter, for example the speed of the sled, it grows, then a gentle and jerk-free start.

In the boundary area is the driving profile with respect to at least one Characteristic of the carriage movement preferably the flattest. It can be in particular a limitation of the speed of the carriage reach, if appropriate, the support (and thus the engine torque or the motor current) has a limit.

The slope in the driving profile is in the middle region preferably between the Incline in the approach area and the slope in the boundary area. in the Mid-range, the support profile may be approximately linear.

It is particularly advantageous if the engine torque to a maximum Value is limited, that is for the energization of the motor a maximum Current value is provided. This in turn allows the Limit the speed of the carriage to a maximum value, so that for increased security is ensured.

It can be provided that the strength of the support is adjustable and is adjustable in particular by an operator. This can, for example the type of material to be cut or the operator himself; For A strong person can set the strength lower than for one weaker person. Such adjustability can be realized thereby that a basic support profile is stored in tabular form and an operator can choose a factor. The actual motor current of the drive motor corresponds to a certain state of movement of the carriage then multiplied by the corresponding base value according to the base support profile with the previously set factor.

It is also possible that the support profile is adjustable, for example different varieties of food to be cut or different To capture operators.

It can also be provided that in a learning mode by specifying the Slide movement a support profile is generated. In such a an adaptive learning process, an operator can then have the desired support profile pretend by just pretending the carriage movement.

It is especially advantageous if the carriage movement slows down and / or manual braking of the sled a brake assist activatable is. To reverse the carriage movement, the operator must Decelerate the carriage in its movement and then in the opposite direction slide. For this, on the one hand, a force is necessary to generate energy to get out of the carriage movement. In addition, must from at Prior art sliced slicers with servo assistance the operator also overcome the engine torque of the drive motor. By the inventive provision of a brake assist leaves By the operator, a carriage reversal with far less force to reach. This in turn allows cutting material to be cut in shorter times, because of the low effort of the operator the slide can also move faster. In addition, the security is increased because can be ensured by the brake assist that the carriage is not runs unchecked on his web guide.

In particular, the brake assist at a negative acceleration of Schlittens, that is activated when slowing down the speed. Such a negative acceleration may be caused by an operator be, which initiates a reversing movement of the carriage. A negative Acceleration also occurs when, for example, the carriage is in one direction is triggered without further user prompting. In this case, the Brake assist for automatic braking and especially stopping of the sled to prevent uncontrolled passage. A Slowing down the speed can be easily done via a Detect time-resolved path determination with respect to the carriage movement.

In one embodiment of the slicing machine according to the invention it is provided that when the brake assist is activated, an engine torque value, which results according to a support profile modified becomes. The support profile, which is stored in tabular form for example, assigns a certain speed value a certain motor torque value. With Brake Assist activated becomes precisely this given for a given speed engine torque value modified to achieve a deceleration of the carriage. This modification takes place automatically. When the brake assistant is activated after a speed slowdown has been detected, then an automatic modification of the corresponding engine torque values, so a deceleration of the carriage in particular on the To reach zero speed.

This can be achieved, for example, in that the engine torque value, which is for a given speed according to the support profile results, is multiplied by a braking factor. The braking factor is less than one to achieve a slowdown in speed. It can also accept negative values just to achieve deceleration. The one or more braking factors, for example, in a table be stored. They are chosen so that there is a deceleration. For an actual speed then becomes active when Brake Assist is activated Braking factor specified, which for setting a new motor torque value leads. It then sets a new speed with a new engine torque value according to support profile. This new engine torque value can in turn be multiplied by a braking factor. This process preferably takes place until a complete standstill of the carriage is reached.

It can be provided that within a given time frame a Set of braking factors are given. The braking factors determine one Brake function of the brake assistant. For example, in a time grid a total of 10 ms a set of predetermined braking factors Expired according to a characteristic, the braking factors being selected that a deceleration with the result of complete stoppage of the carriage is reached.

In particular, the series also includes negative braking factors to a through (at least short-term) negative engine torque related to the direction of movement of the sled to be braked to an explicit braking force cause.

When an operator moves the carriage, it usually does so until to the reversal point of a carriage guide, which is from the operator turned away. When this reversal point is reached, the material to be cut is complete cut across. The operator then moves the carriage into the Opposite direction, usually the carriage not to the other (Front) turning point of the carriage guide is moved, which the Facing the operator. As a rule, the distance covered is shortened, by the operator already before the front reversal point of the carriage guide the movement reverses. As a rule, the front reversal point only reached when a wide material to be cut picked up by the carriage is. According to the invention can be provided as a safety function that the carriage is braked when it turns away from the operator Reversal point of the carriage guide the other reversal point reached within a given period of time. It is the fundamental one Danger that when a slide from the (rear) reversal point triggered when he runs to the other turning point, there he gets a counterpulse learns and runs back to the previous reversal point and so on his Guideway uncontrolled moves back and forth. By the invention Safety function is checked whether the carriage starting from the rear turning point the other turning point within one has reached the specified time. If this is the case, then the carriage braked by, for example, a short braking pulse through the Drive motor is generated for the carriage, which is sufficient Decelerate carriage so far that its passage is prevented.

The default time to pass between the two reversal points is such that times within this period are uncontrolled Passing through the carriage correspond. In particular, it is examined whether the time the sled needs is within this period. Of the Period preferably extends from time zero to an upper one Border. The period can be fixed in the control and regulation device be stored. It is also possible this period depending on calculate current device parameters. It is also possible the strength and Length of the braking pulse or to stored data recourse. For example, the period may be at its upper limit be specified so that the corresponding time limit is the time that the sledge to go through the distance between the two reversal points needed at a given speed, with the given Speed a typical or average speed of the sled on his track guide.

It is advantageous if in addition to the servo operating mode also still Automatic mode is provided, in which the carriage automatically moved back and forth. In particular, is between servo operation mode and automatic mode switchable.

It is possible that a slicing machine according to the invention only still has an automatic operation mode and servo operation mode. It then no longer has to be provided for a disengagement of the carriage. It is but also possible that additionally provided a manual mode of operation is, in which the carriage is purely manually movable. Here, too, is one corresponding switch possibility between servo operating mode and Manual operating mode or automatic operating mode, servo operating mode and manual mode of operation.

It is particularly advantageous if a sensor for detecting the at least a carriage movement characteristic is provided. The sensor can determine this characteristic directly or indirectly. For example, can via a time-resolved location determination of the carriage position, the speed and / or the acceleration of the carriage are determined.

It is particularly advantageous if a distance measuring device is provided, about which each position of the carriage along its guideway to each At least during operation of the cold cuts cutting machine is absolutely determinable. Such a cold cuts cutting machine with absolute Wegpositionsbestimmung is in the non-prepublished German patent application No. 102 25 845.7 of June 5, 2002 disclosed by the same Applicant; This application is expressly incorporated by reference. In such a absolute path measuring device can be the carriage position and thus the carriage speed or carriage acceleration is reference-free determine with great accuracy. It can then turn the drive motor according to a support profile based on the at least one Control or regulate the characteristic of the carriage movement.

The invention is also based on the object, a method of the above to provide said type, in which optimized operating options for the operator.

This object is according to the invention in the aforementioned method solved in that at least one characteristic of the carriage movement is determined and that the carriage movement depends on the characteristic is supported.

The inventive method already has in connection with the Slicing machine according to the invention explained advantages.

Further advantageous embodiments have also already been related explained with the slicing-cutting machine according to the invention.

In particular, the drive motor for the carriage according to a support profile controlled and / or regulated. This allows the different Conditions during the movement of a carriage detect specifically in the control or regulation of the carriage movement; In particular, the starting behavior can be set explicitly to such a enable smooth and smooth starting.

It is advantageous if the support profile has a driving profile. About the driving profile, the movement of the carriage can be controlled or regulate while using a braking function with characteristic deceleration of the carriage can be controlled or regulated.

It is favorable if the support (that is, the engine torque, which set by the motor current) at low speeds of the Sliding is disproportionately stronger than at high speeds of the Carriage. This allows a smooth and smooth starting.

It is advantageous when slowing down the carriage and / or exercise a particular manual braking force on the carriage a Brake Assist is activated. As a result, the force required to decelerate the Sled and to the reverse he sleigh movement reduced. It can be also achieve that at a lowering of the speed of the carriage automatically is slowed down, so that, for example, an uncontrolled run of the carriage is prevented.

It can be provided that with activated brake assist to preset Time points according to a support profile for a given Speed of the carriage is modified given engine torque. The engine torque is then modified accordingly so that a supported Deceleration is achieved, in particular the force required for Slowing down sledging for an operator.

It may be provided that the predefined according to the support profile Engine torque is multiplied by a braking factor less than one, to specify the actual motor torque acting on the carriage and then apply the power to the drive motor accordingly, that this engine torque results. The braking factor can, for example be specified in tabular form.

A braking function or a characteristic of the brake assist can be characterized realize that in a given time frame a number of Braking factors are specified. In such a time frame, which one certain duration of, for example, 10 ms and in example is divided into equal time steps, is the set of braking factors processed to within the time frame at the given times one resulting motor torque value to obtain. The braking factors are like this chosen that a deceleration in particular on the speed zero is reached.

It is favorable, if in the time frame at longer times towards the braking factors get smaller and especially at longer times towards negative braking factors be specified. It is then based on a detection time, at which a slowing down of the speed is detected, initially reduces the engine torque to slow the carriage. To For longer periods, negative brake factors cause a negative engine torque generated in order to cause a counter-torque moment for a short time, which provides a braking force that decelerates the carriage. The braking factors are chosen so that the deceleration to zero speed takes place so as to take the energy out of the carriage movement.

It can be provided that when increasing the speed of the carriage with Brake Assist activated, a Brake Assist characteristic in the direction higher engine torques of the drive motor is passed through. Such Increasing the speed of the carriage with Brake Assist activated may be present when one operator returns the sled to the other Direction moves. If the brake assist characteristic does not go through completely but is going through in the direction of higher engine torques (the means towards higher braking factors), then can be a smooth transition between braking and normal energization of the drive motor.

In particular, time intervals are then selected smaller than during braking of the sledge, for example, half the size, so just a smooth transition between brake function and normal current supply (which is the normal Drive of the carriage corresponds).

Figur 1

eine Vorderansicht einer erfindungsgemäßen Aufschnitt-Schneidemaschine;

Figur 2

eine Teilschnittansicht längs der Linie 2-2 gemäß Figur 1 mit einem Ausführungsbeispiel einer erfindungsgemäßen Wegmeßvorrichtung;

Figur 3

ein Beispiel eines Unterstützungsprofils mit Motorstrom über Geschwindigkeit eines Schlittens;

Figur 4

Motormoment M und sich einstellende Geschwindigkeit in ihrer Zeitabhängigkeit, und

Figur 5

ein Diagramm von Bremsfaktoren f_i in einem Zeitraster t₁ bis t₁₁ für eine Bremsfunktion eines Bremsassistenten (BremsassistentKennlinie).

The following description of preferred embodiments is used in conjunction with the drawings for a more detailed explanation of the invention. Show it:

FIG. 1

a front view of a cold cuts cutting machine according to the invention;

FIG. 2

a partial sectional view along the line 2-2 of Figure 1 with an embodiment of a distance measuring device according to the invention;

FIG. 3

an example of a support profile with motor current versus speed of a carriage;

FIG. 4

Motor torque M and self-adjusting speed in their time dependence, and

FIG. 5

a diagram of braking factors f _i in a time grid t ₁ to t ₁₁ for a brake function of a brake assist (brake assist characteristic).

An embodiment of a slicing machine according to the invention, which is designated as a whole by 10 in Figure 1, comprises as a whole with 12 designated machine housing. This has a base 14, with which the cold cuts cutting machine 10 on a ground like for example, a table surface is adjustable.

On the machine housing 12, a carriage 16 is on a guideway Take-up of food to be cut back and forth between two reversal points stored. This carriage 16 is provided with a rear wall 18, to which the cutting material, such as sausage, cheese or fish, can be applied.

The carriage 16 is by a drive motor 20 (Figure 2) for its displacement movement driven on its guideway, with the back and forth Herverschiebung over the drive motor 20 is done automatically. The drive motor 20 is disposed in the machine housing 12 protected. It is a semi-automatic mode provided (servo operation mode), at the manual operation of the carriage movement by the drive motor 20 is supported. This will be explained in more detail below. In an automatic operation mode there is an automatic back and forth shift of Carriage 12 without operator guidance. Between automatic operating mode and Servo mode can be toggled.

In addition, a manual operating mode can still be provided, in which the Slide 16 is only manually operable.

About the drive motor 20 is via a carriage drive element, for example with the aid of a guide roller 22, a toothed belt 24 in the direction of displacement 26 of the carriage 16 driven. A Schlittenfuß 28 is on coupled to this timing belt 24 and is about the movement of the belt 24 in its direction of displacement 26 (back and forth shift) taken.

On the machine housing 12, a circular blade 30 is also mounted driven, wherein the drive motor is arranged protected in the machine housing 12 is (not shown in the drawing). By the back and forth shift of cut material on the carriage 16 on the rotary circular blade 30 slices of an adjustable thickness are cut off from the material to be cut.

The displacement of the carriage 16 takes place parallel to a cutting plane of the circular blade 30. This cutting plane can be vertical or in lie at an angle to the base 14; in the latter case, the cold cuts cutting machine 10 referred to as oblique cutter.

The slicing machine 10 in particular has a knife protection lock on (not shown in the drawing), which is effective when the carriage 16 is pivoted away from the machine housing 12 for cleaning purposes is or will be deducted.

It can also be a grinding device and / or a cleaning device for the circular blade 30 may be provided (not shown in the drawing). About that In addition, a device for the storage of sliced Clippings be present (also not shown in the drawing).

In the machine housing 12 is an absolute 32 designated as absolute Position measuring device (Figure 2) arranged by means of which absolutely the position of the carriage 16 can be determined on its guideway. Especially can be with this displacement measuring device 32, the position of the carriage relative determine the machine housing 12 and, for example, the distance of the carriage 16 relative to a fixed point of the machine housing 12th Basically, this fixed point can be arbitrary.

In the embodiment shown in Figure 2 is in the machine housing a guide strip 34 extending in the displacement direction 26 is arranged, which guide the carriage 16 on its guideway serves. At this guide rail 34 is a carrier 36 for a transducer device 38 of the measuring device 32 held. These are spaced carrier spacers 40, 42 provided at which in the region of its respective ends the carrier 36 is mounted.

In one embodiment, the transducer device 38 includes a donor Magnetic tape 44, which on the carrier 36 facing the Schlittenfuß 28 is arranged and in particular glued to this. It can too be provided that the magnetic tape 44 in the region of its ends with the Carrier 36 is screwed.

The magnetic tape 44 comprises at least two substantially parallel Tracks with a magnetic coding. This encoding is in the Traces of magnetic segments of different width transverse to the direction of displacement 26 formed. As a result, the magnetic tape 44 as a donor along the displacement direction 26 varying magnetic properties which can be read out accordingly via a sensor device 46. The sensor device 46 includes, for example, a plurality (corresponding the number of tracks) of magnetic field sensitive sensors. The magnetic Coupling of the sensor device 46 to the magnetic tape 44 is thus dependent from the position of the sensors of the sensor device 46 relative to the Magnetic tape 44 as a donor, which in turn absolutely the position of Sliding on the machine housing (on which the magnetic tape 44 as Encoder shift fixed fixed) can determine.

The sensors of the sensor device 46 are then magnetic-field-sensitive Sensors, such as Hall sensors, which are the local Detect the magnetic field of the magnetic tape 44. Due to the variation of the corresponding Feldes along the displacement direction 26 can be so the (analog) sensor signal the distance relative to the magnetic tape 44th determine and in turn the position of the carriage 16.

For this purpose, the sensors of the sensor device 46 are resistant to displacement and in particular rigidly connected to the Schlittenfuß 28, so that in the outward and Herverschiebung the carriage this moved over the magnetic tape 44 become. The location information and thus the position information for the Carriage 16 can be determined without contact, since the sensors are the location information from the magnetic tape 44, which they are arranged facing, can determine without contact. When sliding the carriage 16 slide the sensors on the magnetic tape 44 as a donor, for example, in a Distance of the order of 1 mm.

Encoder-sensor combinations in which the path information on the encoder are magnetically encoded, for example, from DE 196 43 538 A1 and the EP 1 047 085 A2, to which reference is hereby expressly made.

A cable guide 48 for supply cable and signal cable for the sensor device 46 is formed so that according to the cable connections with follow the carriage 16 in its reciprocation. Especially The electrical coupling takes place via a cable 50, which is so mobile is moved, that just with the movement of the slide foot 28 this with following its connection to the (moving) sensors of the movement.

In each position of the carriage 16 are sensors of the sensor device 46th the magnetic tape 44 as an encoder opposite, the signal loading of the Sensors, such as Hall sensors, depend on the location on the Magnetic tape 44, which faces the respective sensor. This will the position of the carriage 16 relative to the machine housing 12 and thus absolutely determined via an analogue evaluation. This detection of the carriage position takes place in each position of the carriage 16 and in particular also at any time. The corresponding information is sent to a Control and regulating device 52 passed. With the help of the determined Position data can then be the slicing-cutting machine 10 to a variety Control and regulate way. In particular, can be detected on the detected Control or regulate position data of the drive motor 20 to in the automatic mode of operation To initiate braking and to effect a carriage reversal.

Due to the absolute determination of the carriage position must to their detection not from a reference position to be approached beforehand by the carriage but one gets regardless of the prehistory the carriage movement at each position of the carriage 16 and to each time its exact position, since this each time - and thus constantly - is measured again. It can thereby be at any time of the Slide movement the speed of the carriage 16 as another characteristic determine the carriage movement. It is also possible, the acceleration of the sled.

Due to this exact pre-free position determination, speed determination and determining the acceleration of the carriage 16 a variety of control options for the cold cuts cutting machine especially during their commissioning, during their Operation and decommissioning:

Thus, in particular, for semi-automatic operation or manual operation the carriage 16 in a convenient for the operator insertion position for Cutting material to be driven on the machine housing 12. Even with automatic mode, in which the carriage 16 is driven by the drive motor 20 is, this basic position can be set so that, for example, for the control of the carriage movement is favorable.

For example, to control the disc tray of sliced Clippings may be via the control device 52 either internally (software-based) or externally variable via an operator input the position of a section edge for the material to be cut can be adjusted. The Section edge is defined by the fact that with her a slice of the cutting material is safely separated. The section edge is independent of the diameter of the material to be cut. If this is set accordingly, then the need Do not sled the full way, for example, until a stop while traversing the reciprocating motion, so that thereby the cutting frequency increase.

The front reversal point depends on the diameter of the material to be cut. This reversal point, for example, externally via a keyboard input variably adjustable. About the position determination of the carriage 16 the controller 52 may then upon reaching the set positions initiate the reversal, and the achievement of this excellent Positions via the position measuring device 32 is detected.

The commutation of the drive motor 20 can be via the control and Control device 52 also control, just the controller or Regulation the position data are based.

By absolute and in particular analog position determination (distance determination) via the measuring device 32 in particular no Pulse count can be performed more to the movement of the carriage 16 to steer on his guideway.

When using a cleaning device or grinding device for the circular blade 30 can be controlled via the control and regulating device 52 control a commissioning of these devices so that they only allowed is when the carriage 16 in a certain basic position away from Circular blade 30 is, so that in this way the reliability is increased.

In a slicing machine 10, which is both an automatic mode as well as manual mode and / or semi-automatic mode of operation having a switching function, the carriage 16 can be for decouple the manual mode from the drive motor 20, in particular the carriage foot 28 is decoupled from the toothed belt 24, or in switch the servo operating mode (semi-automatic operation).

About the distance measuring device 32 can then determine whether the carriage 16th is ever moved. The control device 52 may then make sure that the circular blade 30 in its Rotation is turned off, just during a non-operating phase to prevent a running knife for safety reasons.

As a further safety function, it is possible that the circular blade 30th only operate again when a cutting thickness adjustment device 31 is set to a position "zero" or "below zero". The cutting thickness adjustment device 31 comprises in particular a rotary knob.

About the control and regulating device 52 can be on the determination Further characteristics of the carriage movement and in particular the Speed of the carriage 16 then from the data obtained by the Wegmeßvorrichtung 32, also the type of movement of the carriage 16 determine, that is, for example, whether this manual or automatic is moved by temporally resolved the corresponding position data be detected. This can be used to control the carriage movement to control specifically when switched from manual mode to automatic mode becomes. If, for example, the carriage 16 is still being moved manually, while has already been switched to automatic mode, so may by the connection of the drive motor 20 no sudden jerking of the carriage 16 occur. By the distance measuring device 32 can now be but just notice if during the switching to the automatic mode the carriage 16 is still moved manually. Accordingly, then let out the data supplied by the distance measuring device 32, the drive motor 20th Synchronize, just to refer to the manual carriage movement to achieve "soft" start of the automatic carriage movement.

In the embodiment shown in Figure 2, the encoder 44 of the encoder device 38 stationary and the sensors of the sensor device 46 are with the carriage 16 moves. It is also possible in principle that one or a plurality of corresponding sensors stationary on the machine housing 12th is arranged while the donor or donors are moved by the carriage 16. The arrangement is basically as shown in Figure 2, except that Transducer device and sensor device are reversed and the stationary Device (the sensor device) must be energized and on Signal lines is coupled.

Such a distance measuring device can be formed, for example, by the sensor comprises an inductive element, for example a print coil, which has a varying cross section in the direction of displacement 26.

The slidable with the carriage 16 encoder device then includes a Magnets and is in particular by one or more permanent magnets educated; the moving element of the transducer-sensor device can then be guided wirelessly.

In this embodiment, the magnet inductively couples as a donor to the inductive element, and for example by determining the quality of the inductive Element can be the corresponding absolute location information with respect to the position of the carriage 16.

A corresponding path measuring device is described in DE 100 25 661 A1, to which expressly incorporated herein by reference.

The distance measuring device 32 may also be a magnetostrictive Act system, the encoder is again a magnet. Such magnetorestrictive system is described for example in US 5,313,160, to which expressly incorporated herein by reference.

It is also possible in principle, the position of the carriage 16 on his Guiding relative to the machine housing 12 to determine optically by For example, a distance measurement carried out by means of a laser beam is, preferably the laser source then with respect to the machine housing 12 is fixed.

In addition to a non-contact measurement, it is also possible in principle that for determining the absolute position of the carriage 16, a resistance measurement is carried out. For this purpose, the distance measuring device 32 includes, for example a resistor track and a contact track, which are opposite are arranged on the carrier 36. In particular, the are Resistance path and the contact path formed like a foil, both Films are stacked.

At the Schlittenfuß 28 sits a pressure pin, which moves with the carriage 16 is, with the pressure pin itself immovably on the Schlittenfuß 28th sitting. This pressure pin presses the two foils together, which is a contact causes the resistance path and the contact path. With appropriate design of resistor track and contact track can then be a resistance determine which is dependent on the position of the carriage 16 relative to the carrier 36 and thus to the machine housing 12. For example let resistive track and contact track be designed so that in dependence from a particular machine housing fixed reference point the Resistance change in the back and forth displacement of the carriage 16 its guideway is linear (for example, linear increasingly with Wegbewegung from that particular reference point and decreasing linearly at Move to this reference point).

It can also be provided that the drive motor 20 via a carriage drive element like the guide roller 22 with an absolute angle measuring device coupled, which the rotational position of the corresponding drive element, the rotation of which is converted into a linear movement of the carriage 16 is determined. From this rotational position in turn can then be determine absolute carriage position. But it can also be provided that the carriage itself drives a rotatable element with its linear movement, from the rotational position of the carriage position is determined absolutely.

Such an absolute angle measuring system can in turn be a transmitter device and a sensor device, again as described above the transmitter device may be arranged stationarily on the machine housing can or the sensor device. For example, it is a Encoder to a magnetic tape as described above and the sensor is then a Magnetic field-sensitive sensor like a Hall sensor, just to the angular position read.

But it can also be provided that the sensor is a stationary with respect the machine housing 12 arranged sensor is, while the encoder a with the drive element is rotating magnet. It will be on the DE 100 25 661 A1 reference.

For detecting characteristics of the carriage movement and in particular the Speed of the carriage 16 in the servo operation mode can also be a Incremental counting device which does not support the carriage position Absolutely determined, but to a reference point, as the starting point works for a count.

According to the invention in the servo operating mode, the support of Slide movement by the drive motor 20 as a function of at least a characteristic of the carriage movement, wherein the movement of the carriage 16 the support depends in particular on the size of the speed of the carriage 16. The Motorbestromung I is thus dependent on the Speed v of the carriage. The speed v of the carriage becomes determined via the distance measuring device 32. The motor current determines that Motor torque (torque), which the drive motor 20 on the carriage 16 exercises.

The carriage movement is supported by a support profile 54, which, for example, in tabular form or as a function in the control and control device 52 is stored. The support profile 54 is predetermined and in the servo operation mode, the drive motor is according to controlled or regulated according to the support profile.

It can be provided that the support profile 54 itself by the Operator is adjustable, and then different support profiles in the Control and regulating device 52 are stored. For example can have a special support profile depending on the material to be cut be selected and / or depending on the operator. So is with hard sausages basically a higher force for the movement of the To spend 16 slitting the cutting process, such as for soft sausages or for cheese. Accordingly, a support profile be provided, which is adapted to hard sausages and a support profile adapted to soft sausages or cheese is. Operator-dependent support profiles can take into account whether the operator rather powerfully move the carriage 16 in the servo operation mode want or with greater support.

There can be different forms of support profiles for example in Be stored table form, these support profiles in non-proportional Differentiate way. It can also be provided that for For example, a form of a support profile is a base support profile is stored in the form of a table. Based on this basic support profile proportional support profiles can be obtained by multiplication generate with a fixed factor. This factor is particular adjustable. This can then adjust the strength of the support.

The support profile 54 has a starting region 55 in a driving profile 55 56, a central area 58 and a boundary area 60.

The approach area 56 is at low speeds of the speed Starting from zero. In this area is the slope of the support profile in terms of speed v as a characteristic of the carriage movement the biggest. There is at the non-linear support profile 54 the relative change of the motor current and thus of the motor torque (and in turn the support of the sled movement), that is, the engine torque is disproportionate here. This causes the Approaching the carriage 16 by manual operation, a stronger support for the operator. It gives the operator the feeling that the carriage is smooth.

Furthermore, this ensures that the carriage 16 by a short Initiation does not start by itself. This will be even more supports that the support profile in the start-up area 56 is not in the Speed zero starts but at a finite speed 62, which is close to zero.

By the formation of the support profile 54 in the starting area 56 with steep characteristic will be a smooth and smooth ride for the carriage 16 reached.

In the center area 58 at medium speeds, the support profile is running 54 shallower than in the approach area 56. It can be provided be that the support profile in the middle area 58 at least approximately is linear.

In the boundary region 60, the motor current (and thus the Engine torque) even flatter than in the central region 58, where there is the motor current in particular, is substantially constant. This means that in This speed range, the motor current is limited and thus also the speed of the carriage 16 is limited. It prevents that too high speeds are achieved for the carriage 16, that is, the speed of the carriage 16 is over the design the support profile 54 limited in the boundary region 60.

By the shape of the support profile 54, the operator becomes a natural Feeling given when sliding the carriage 16; the server has that Feel that the carriage 16 is smooth - in the servo operation mode is the Manual operation of the carriage 16 by the drive motor 20 speed-dependent controlled in accordance with the assistance profile 54.

It can be provided in principle that the strength of the support adjustable is by different support profiles 54 are selectable or on a support profile, the slope, in particular in the starting range 56 and in the central region 58 is adjustable. This can be as described above by setting a factor based on a base support profile respectively.

It can also be provided that the parameter is not the speed of the carriage 16 is selected, but the acceleration of the carriage 16th It is also possible to speed up and accelerate together to be used as parameters.

It can also be provided that in a learning mode (teach-in mode) on Support profile is adjustable by an operator moves the carriage 16 and from this movement then a support profile is determined, which is then stored again.

In Figure 4, a velocity profile 64 over time t and the temporal Course of the engine torque 66 shown, which occurs when the drive motor 20 controlled according to the support profile 54 becomes. Also shown is the speed 68 of the carriage 16, which then becomes when the drive motor 20 has the engine torque 66.

You can see a steep starting range again at low speeds with disproportionately large engine torque, in which case in the boundary area the speed is limited to a maximum value of 70. There, then also the engine torque 72 is substantially constant. Support the carriage movement is thus for the maximum engine torque 72 limited.

According to the invention, a brake assist is also provided, which then acts as the speed of the carriage 16 decreases, that is a negative acceleration acts, or a manual braking force on the Carriage 16 is exercised, which also causes a negative acceleration. Brake Assist activates when there is a reduction in speed of the carriage 16 is detected. It is then driven by the drive motor generates a disproportionate braking torque. This can be seen in FIG. 4:

As the speed decreases, as in area 74, it decreases Motor torque in the range 76 and 78 strong and especially disproportionately resulting in a disproportionate reduction in the speed of the Schlitten 16 leads. This in turn generates an increased braking torque, that is, the carriage 16 is braked by a brake assist.

The brake assist can be implemented via a brake assist characteristic 80 (brake function), as shown by way of example in FIG. The brake assist characteristic curve 80 comprises at a time interval t ₁ to t ₁₁ predetermined braking factors f _i, which is for example stored as discrete values in table form in the control and regulating device 52nd If a slowing down of the speed of the carriage 16, that is a negative acceleration, is detected by the control and regulation device 52, then this braking function is activated.

According to the support profile 54, each speed v of the carriage 16 is assigned a specific motor torque value. The brake assist characteristic curve 80 includes factors f _i to modify the motor torque value which, in accordance gives support profile 56 at a predetermined speed. Starting from the time t ₁ with the braking factor f ₁ = 1, in which the motor torque value according to support profile 54 is present, then within the time frame t ₁ to t ₁₁ , which for example has a length of 10 ms, a number of braking factors f ₂ to f _{11 has passed} through at fixed intervals Δt = t _{i + 1} -t _i . By a braking factor less than one, the torque is reduced, with negative braking factors, a negative torque is generated, which exerts a counter force so as to cause a braking force. If a braking factor f _i acts equal to one, then the drive motor 20 exerts an engine torque which deviates from the support profile 56. It then sets a new speed. At the following time t _{i + 1} , a new engine torque is set in accordance with the then predetermined braking factor f _{i + 1} , which in turn leads to a new speed.

The brake assist characteristic 80 with its braking factors f _i is selected so that just a deceleration is achieved in particular up to zero speed. Within the time frame t ₁ to t _11, the braking factors preferably decrease starting from the value one and become negative. By the negative braking factors (in Figure 5 f ₅ to f ₁₁ ) within the time grid a - short-term - brake motor torque is generated, which acts in the embodiment of a brake assist characteristic shown in Figure 5 over a period of time which is shorter than the time grid. In the embodiment shown, a negative engine torque (braking torque) acts over a period of 8 ms.

The speed of the carriage 16, which is during the processing the brake function 80 is set with activated brake assist is through the characteristic itself determines, whereby the actually reached speed also by the loading of the carriage 16, the strength of the brake pulses and the initial speed of the carriage 16 is affected.

It may happen that with the brake assist activated during the execution of the brake assist characteristic curve 80, the speed of the carriage 16 increases again by an operator exerting a counterforce. It is then provided that the brake assist characteristic 80 is not traversed to the end with decreasing braking factors f _i , but in the opposite direction - to higher braking factors f _i - is traversed. This allows a smooth transition between deceleration and normal carriage movement can be achieved. Preferably, the brake assist characteristic 80 is traversed in the opposite direction at smaller time intervals than when passing through to decelerate the carriage 16. This also assists in the smooth transition between deceleration and normal movement of the carriage 16.

The brake assist also includes the safety function that the carriage 16 after bumping stops itself, since the slide 16, if not further from Hand is tracked, loses speed and thus also the Brake Assist is activated.

There may be realized a safety function in which the carriage 16 is automatic is slowed down when it reaches the rear turning point a carriage guide which faces away from the operator, within a given period, the other, front reversal point reached the slide guide. In the illustration of Figure 1 moves the carriage perpendicular to the plane of the drawing, with the front reversal point lies forward and the rear reversal point to the rear.

The rear reversal point must complete a cut on one Cutting material is always reached. After reaching the reversal point moves the operator moves the carriage 16 in the opposite direction to the other reversal point out. Except for very wide crops is usually the front Reversal point not reached, as an operator to increase the number of cycles too reach, not the full stretch between the back turnaround and returns to the front reversal point, but shortens the carriage stroke.

When it is checked whether the carriage 16 reaches the front reversal point (after reaching the rear turning point) and then checked in which time he will reach the front turning point starting from the rear turning point Reversal point, then can be an uncontrolled Passing through the carriage 16 on its guideway prevent. Of the Carriage is automatically braked when it is within the specified Period, that is below a predetermined time limit, starting from reached the rear reversal point the front reversal point. Will the Time limit exceeded, then there is no automatic deceleration.

The deceleration can for example via a brake pulse of the drive motor 20 done. By such a braking torque of the carriage is the 16th automatically stopped. This is a run through and in particular a uncontrolled reciprocation on the guide track of the carriage 16 prevented.

The time limit below which the carriage 16 automatically braked can be stored in the control device 52 fixed or by this, based on current parameters of the cold cuts cutting machine 12 are calculated. The strength and length of the Braking pulse to decelerate the carriage 16 may be stored or calculated based on current device parameters.

In the method according to the invention is a variable, non-linear support the carriage movement is achieved in the servo operation mode, so that a slight and smooth start of the carriage 16 can be achieved at leichtgängiger Carriage guide; the operator has a natural feeling when Slide the carriage 16.

It may additionally be provided a brake assist, which at a slowdown the slide 16 generates a disproportionate braking torque, so that, for example, with slight effort with little effort of Sled 16 is slowed down and achieved a quick reversal becomes. In addition, the safety is increased because after triggering the Slides 16 then automatically stops this.

Claims (45)

Slicing machine with a circular blade (30), a carriage (16) for receiving material to be cut, which is guided parallel to the cutting plane of the circular blade (30), and a drive motor (20) for displacing the carriage (16), wherein in one Servo mode of operation of the carriage (16) is manually operated and the operation is supported by the drive motor (20),
characterized in that in the servo operating mode, the support by the drive motor (20) is dependent on at least one parameter (v) of the carriage movement, wherein the at least one parameter (v) is determined. Slicing machine according to claim 1, characterized in that the support depends on the speed (v) of the carriage (16). Slicing machine according to claim 1 or 2, characterized in that the support is dependent on the acceleration of the carriage (16). Slicing machine according to one of the preceding claims, characterized in that an engine torque (M) of the drive motor (20) is controlled and / or regulated as a function of the at least one parameter (v) of the carriage movement. Cold slicing machine according to one of the preceding claims, characterized in that a control and regulating device (52) is provided for controlling and / or regulating the drive motor (20). Slicing machine according to one of the preceding claims, characterized in that the drive motor (20) can be controlled and / or regulated according to a predetermined support profile (54). Slicing machine according to claim 6, characterized in that the support profile (54) comprises a driving profile (55) for the carriage (16) for the carriage (16). Slicing machine according to one of the preceding claims, characterized in that the support of the carriage movement in the servo operating mode is non-linear with respect to the at least one characteristic (v) of the carriage movement. Slicing machine according to claim 8, characterized in that the support of the carriage movement is disproportionately stronger at low speeds of the carriage (16) than at high speeds of the carriage (16). A slicing machine according to any one of claims 7 to 9, characterized in that the driving profile (55) comprises a low speed approach area (56), a medium speed center area (58), and a high speed limit area (60). Slicing machine according to claim 10, characterized in that in the starting region (56) the driving profile (55) is steepest relative to the at least one parameter (v) of the carriage movement. Slicing machine according to claim 10 or 11, characterized in that in the limiting area (60) the driving profile (55) is the shallowest with respect to the at least one parameter (v) of the carriage movement. Slicing machine according to one of Claims 10 to 12, characterized in that the pitch in the driving profile (55) lies in the middle region (58) between the gradient in the starting region (56) and the gradient in the limiting region (60). Slicing machine according to one of the preceding claims, characterized in that the engine torque (M) is limited to a maximum value. Slicing machine according to one of the preceding claims, characterized in that the strength of the support is adjustable. Cold cuts cutting machine according to one of claims 6 to 15, characterized in that the support profile (54) is adjustable. Cold cuts cutting machine according to one of claims 6 to 16, characterized in that in a learning mode by specifying the carriage movement, a support profile can be generated. Slicing machine according to one of the preceding claims, characterized in that a braking assistant can be activated when the carriage movement and / or manual braking of the carriage (16) is slowed down. Cold cuts cutting machine according to claim 18, characterized in that the brake assist is activated during a negative acceleration of the carriage (16). Slicing machine according to claim 18 or 19, characterized in that, when the brake assist is activated, an engine torque value which results according to a support profile (54) is modified. Slicing machine according to claim 20, characterized in that the motor torque value which results for a given speed according to the support profile (54) is multiplied by a braking factor (f _i ). Cold cuts cutting machine according to claim 21, characterized in that the braking factor (f _i ) is less than one. Cold cuts cutting machine according to claim 21 or 22, characterized in that a number of braking factors (f _i ) are predetermined within a predetermined time grid. Slicing machine according to claim 23, characterized in that the series comprises negative braking factors. Cold cuts cutting machine according to one of claims 18 to 24, characterized in that when the brake profile is activated, the energization of the drive motor (20) is disproportionately reduced and / or an excessive braking torque is generated. Cold slicing machine according to one of the preceding claims, characterized in that the carriage (16) is braked when it reaches the other reversal point within a predetermined period of time after reaching the reversing point of a carriage guide facing away from the operator. Slicing machine according to claim 26, characterized in that the predetermined period of time is such that times within the period correspond to an uncontrolled passage of the carriage (16) between the reversal points. Slicing machine according to one of the preceding claims, characterized by an automatic operating mode in which the carriage (16) automatically reciprocates. Slicing machine according to one of the preceding claims, characterized by a manual operating mode in which the carriage (16) is purely manually movable. Slicing machine according to one of the preceding claims, characterized in that a sensor (32) for detecting the at least one parameter (v) of the carriage movement is provided. Slicing machine according to one of the preceding claims, characterized in that a position measuring device (32) is provided by which each position of the carriage (16) along its guideway can be determined absolutely at any time during at least the operation of the slicing machine. A method of operating a slicing machine in a servo operating mode, comprising a sled for picking slidably reciprocating parallel to the cutting plane of a circular knife, wherein in the servo operating mode the sled is manually operable and assisted by a drive motor, characterized in that at least one characteristic of the carriage movement is determined and that the support of the carriage movement is dependent on the characteristic. A method according to claim 32, characterized in that the drive motor for the carriage is controlled and / or regulated according to a support profile. A method according to claim 33, characterized in that the support profile has a driving profile. Method according to one of claims 32 to 34, characterized in that the support is disproportionately stronger at low speeds of the carriage than at higher speeds of the carriage. Method according to one of Claims 32 to 35, characterized in that a braking assistant is activated when the carriage is slowed down and / or when a braking force is exerted on the carriage. Method according to Claim 36, characterized in that, when the brake assist is activated, a motor torque predetermined according to a support profile at a specific speed of the carriage is modified at predetermined times. A method according to claim 37, characterized in that the predetermined according to the support profile torque is multiplied by a braking factor less than one to determine the actual torque. A method according to claim 37 or 38, characterized in that a number of braking factors are predetermined in a predetermined time grid. Method according to Claim 39, characterized in that the braking factors become smaller in the time grid at longer times. Method according to claim 39 or 40, characterized in that negative braking factors are predetermined at longer times. Method according to one of Claims 36 to 41, characterized in that when the speed of the carriage is increased when the brake assist is activated, a brake assist characteristic curve is traversed in the direction of higher engine torques of the drive motor. Method according to Claim 42, characterized in that time intervals for passing through the brake assist characteristic curve are selected smaller than during the braking of the carriage. Method according to one of claims 32 to 43, characterized in that the carriage is braked when it reaches the other reversal point within a predetermined period after reaching the reversing point facing away from the operator. A method according to claim 44, characterized in that the predetermined period of time is chosen such that times within the period correspond to an uncontrolled passage of the carriage between the reversal points.

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